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<a href="irobot_8inc.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;define roomba position</div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;(</div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;  size [0.33 0.33 0.1]</div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;</div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;  # <span class="keyword">this</span> block approximates the circular shape of a Roomba</div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;  block( </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;    points 16</div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;    point[0] [ 0.225 0.000 ]</div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;    point[1] [ 0.208 0.086 ]</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;    point[2] [ 0.159 0.159 ]</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;    point[3] [ 0.086 0.208 ]</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    point[4] [ 0.000 0.225 ]</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    point[5] [ -0.086 0.208 ]</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    point[6] [ -0.159 0.159 ]</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    point[7] [ -0.208 0.086 ]</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    point[8] [ -0.225 0.000 ]</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    point[9] [ -0.208 -0.086 ]</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    point[10] [ -0.159 -0.159 ]</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    point[11] [ -0.086 -0.208 ]</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    point[12] [ -0.000 -0.225 ]</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    point[13] [ 0.086 -0.208 ]</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    point[14] [ 0.159 -0.159 ]</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    point[15] [ 0.208 -0.086 ]</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  )</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  # <span class="keyword">this</span> bumper array VERY crudely approximates the Roomba<span class="stringliteral">&#39;s bumpers</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="stringliteral">#  bumper( bcount 2  </span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="stringliteral">#     blength 0.33</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="stringliteral">#          bpose[0] [0.12  0.12  45]</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="stringliteral">#          bpose[1] [0.12 -0.12 -45] </span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="stringliteral">#        )</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="stringliteral"></span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="stringliteral">  color &quot;gray50&quot;</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="stringliteral">)</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="stringliteral"></span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="stringliteral">define create roomba( color &quot;gray90&quot; )</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="stringliteral"></span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="stringliteral"></span></div>
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